A parabolic frame deployable antenna mechanism for scissor-type networking

Abstract

The present invention relates to a novel parabolic frame deployable antenna mechanism of scissor-type networking, which is formed by a regular polygon with N sides as the center, and a periphery of which is networked in an alternating manner of rectangles and triangles to divide the profile, and mapped to a parabola, and includes a regular N prism in the center and M layers of deployable surfaces arranged outside the regular N prisms, each layer of deployable surfaces includes P rectangular units and P triangles connecting adjacent rectangular units, and the top angles and bottom angles of the regular N prisms and the rectangular units on the top surface and the rectangular units on the bottom surface are connected by means of scissor-type folding rods, and the size of the spatial deployable antenna mechanism can be changed by changing the number of layers of the scissor-type networking. The present invention only needs one drive to realize the expansion and folding movement of the unit, and the expansion controllability and reliability are high. In addition, the spatial deployable antenna mechanism has a high degree of rotational symmetry, which greatly reduces the difficulty of processing and manufacturing, and has good application prospects.

Description

Technical Field

[0001] The invention relates to the field of antennas, and in particular to a parabolic frame deployable antenna mechanism for scissor-type networking. Background Art

[0002] With the rapid development of aerospace science, various forms of space deployable antennas have emerged. Due to the limitation of carrying capacity, many space deployable antennas are designed as retractable mechanisms, so that they are placed in a retracted posture during storage and launch, and then gradually unfolded to the actual working form when the orbit change is completed. With the continuous advancement of my country's space exploration mission, space deployable antennas have great application value. How to design a large-caliber, high-precision deployable antenna with rods that can be fully retracted and nodes that are completely on the reflection surface, with a small number of degrees of freedom and kinematic pairs and good structural symmetry, is a key technical problem that needs to be solved urgently. At present, many researchers and scientific research institutions have conducted relatively in-depth research on deployable antenna mechanisms and proposed a variety of deployable mechanisms, which are listed below.

[0003] Invention patent CN108649318A discloses a spatially deployable curved truss mechanism based on a scissor mechanism, which is formed by a network of multiple triangular pyramid units. The triangular pyramid unit includes three scissor mechanisms connected end to end in sequence through a common rotation joint. Adjacent triangular pyramid units are connected through a common scissor mechanism, and the scissor mechanism includes two scissor rods hinged to each other in the central part, and the two longitudinal ends of each scissor rod are respectively hinged to a connecting rod member, and a sliding pair connection is formed between the two connecting rod members located at the same longitudinal end of the two scissor rods, and the common rotation joint is arranged between the adjacent connecting rod members at one radial end of the connected scissor mechanisms. Although the deployable mechanism has the advantages of large size, large folding and unfolding ratio, light weight, and high strength, there are many mechanism components and two kinds of kinematic pairs, which will cause a certain degree of instability when the mechanism moves.

[0004] Invention patent CN106025483A discloses a scissor-type over-constrained deployable unit and a spatial deployable mechanism composed thereof, wherein the scissor-type over-constrained deployable unit comprises six faceplates, six scissor rods and twelve connecting rods, the six scissor rods constitute three groups of scissor folding rods, the twelve connecting rods constitute six groups of folding connecting rods, any group of folding connecting rods limits the degree of deployment of the basic deployable unit by the length of the connecting rods, and the remaining five groups of folding connecting rods are all over-constrained folding connecting rods, which can effectively improve the rigidity of the deployable unit, and the size of the spatial deployable mechanism can be changed by changing the number of basic deployable units. The mechanism has the characteristics of simple structure, good deployment performance and high rigidity, but the basic deployable unit mechanism has more components, and multiple basic deployable units are closely arranged and networked. Adjacent basic deployable units can form a spatial deployable mechanism by sharing four faceplates and a group of scissor folding rods, which makes the mechanism mass large, and the antenna deployable mechanism is generally large-scale, and light mass and high rigidity must be considered.

[0005] Invention patent CN102593571A discloses a scissor-based quadrilateral unit plane array deployable mechanism, which is composed of multiple scissor quadrilateral units in a horizontal and vertical array combination, and the quadrilateral unit mechanisms are connected by a common scissor assembly and a corner hinge assembly; when fully deployed, under the action of the locking spring and the locking pin, the entire mechanism is stable in the deployed state, and after the deployment is completed, it is automatically locked, and the diagonal direction is supported by the rod unit, which increases the system stiffness and is insensitive to impact response. The entire system has only one degree of freedom, simple drive, and the mechanism does not require an auxiliary system to compensate for friction. It has a simple structure, light weight, high deployment accuracy, a smooth deployment process, and good synchronization. Because the mechanism is deployed to form a plane reflection surface, the number of unit mechanisms can be arbitrarily increased or decreased according to the needs without changing the structure and size of each part to form a network. Summary of the invention

[0006] In view of the shortcomings of the prior art, the present invention provides a parabolic structure deployable antenna mechanism for scissor-type networking, which has the advantages of fully foldable rods and nodes completely on the parabolic reflection surface, small number of degrees of freedom and kinematic pairs, good structural symmetry and good processing and manufacturing processability. Overall, the present invention is a new type of parabolic structure deployable antenna mechanism for scissor-type networking with small degrees of freedom, simple structure, large folding ratio and high deployment reliability.

[0007] Specifically, the present invention provides a parabolic frame deployable antenna mechanism of scissor-type networking, which includes a central regular N prism and M layers of deployable surfaces arranged outside the regular N prisms, each layer of the deployable surface includes P rectangular units and P triangular units connecting adjacent rectangular units, and the calculation formula of the number P of rectangular units in the i-th layer of the deployable surface is:

[0008] P = 2 i-1 *N

[0009] Wherein, i is the number of expandable layers from the inside to the outside, N is an integer greater than or equal to 3, M is the total number of expandable layers, and M is an integer greater than or equal to 0;

[0010] The N top angles of the regular N prisms, the N bottom angles, the rectangular unit and the regular N prisms, and the rectangular units are connected by means of folding connecting rods, and the top angles and bottom angles of the regular N prisms and the rectangular units on the top surface and the rectangular units on the bottom surface are connected by means of scissor folding rods.

[0011] Preferably, the regular N-prism basic expandable unit comprises N groups of scissor-shaped folding rods, N groups of folding connecting rods, N+1 faceplates on the first surface and N+1 faceplates on the second surface, each group of scissor-shaped folding rods is formed by two scissor-shaped rods of different lengths connected by means of a rotating pair, each group of folding connecting rods is formed by two identical connecting rods connected by means of a rotating pair, the N+1 faceplates on the first surface comprise a top faceplate located at the center of the first surface of the regular N-prism and N bottom faceplates located at N corners of the first surface, the N+1 faceplates on the second surface comprise a top faceplate located at the center of the second surface of the regular N-prism and N bottom faceplates located at N corners of the second surface,

[0012] Two adjacent bottom faceplates are connected by means of a group of folding connecting rods, and the bottom faceplate of the first surface is connected to the bottom faceplate of the second surface at the corresponding position by means of a group of long rods of scissor-type folding rods, and the two free ends of the short rods of the group of scissor-type folding rods are connected to the top faceplate of the first surface and the top faceplate of the second surface respectively, and the degree of freedom of the connecting rod and the faceplate, as well as the free end of the scissor-type rod and the faceplate are connected by means of a rotating pair;

[0013] Each developable layer includes 2 i *N bottom discs and 2 on the second surface i *N lower flower discs, the bottom flower discs on the first surface are connected to the bottom flower discs on the second surface by means of a set of scissor-shaped folding rods, the two free ends of the short rods of the set of scissor-shaped folding rods are respectively connected to the bottom flower discs at corresponding positions of the inner layer and the outer layer of the first surface, and the two free ends of the long rods of the set of scissor-shaped folding rods are respectively connected to the bottom flower discs at corresponding positions of the inner layer and the outer layer of the second surface;

[0014] The five rotation sub-axes of each set of scissor-type folding rods are all parallel, and the three rotation sub-axes on each set of folding connecting rods are all parallel.

[0015] Preferably, by changing the number of M expandable layers, the size of the spatially expandable antenna mechanism can be changed.

[0016] Preferably, the length of the folding link can adjust the degree of expansion of the basic expandable unit. When the folding link is fully extended, that is, the three rotation secondary axes on the folding link are coplanar, the antenna mechanism is in a fully expanded state. When the folding link is fully folded, the antenna mechanism is in a fully folded state.

[0017] Preferably, a middle slot is provided on each side of the bottom flower disc and a symmetrical slot is provided at the line connecting the center and the vertex of each flower disc, the middle slot is used to insert the folding rod and is connected through a rotating pair, 2*N bottom flower discs are symmetrically distributed on the 2*N vertex corners at the bottom of the regular N prism basic expandable unit, the symmetrical slots are used to insert the scissor-shaped folding rods on both sides that are longer than the middle hinge and are connected through a rotating pair, a middle slot is provided on each side of the two top flower discs, the middle slot is used to insert the scissor-shaped folding rods on both sides that are shorter than the middle hinge and are connected through a rotating pair.

[0018] Preferably, the length of each scissor rod of the regular N-prism basic expandable unit and the expandable units of each layer is different, but the sum of the lengths of the two scissor rods of each group of scissor folding rods of the regular N-prism basic expandable unit and the expandable units of each layer is equal.

[0019] Preferably, starting from the two-layer networking, in the rectangular units of each layer, the axes of the slots of adjacent faceplates inserted into the synchronous hinges are respectively parallel to the axes of the bottom folding rods corresponding to the upper and lower regular quadrangular prism basic expandable units, and the upper and lower faceplate slots at both ends of the scissors-shaped folding rods are respectively perpendicular to the axes of the bottom folding rods corresponding to the upper and lower regular N-prism basic expandable units; in the triangular units of each layer, the acute angle formed by the axis of the faceplate slot of the synchronous hinge rod connected by the rotating pair and the axis of the faceplate slot of the adjacent scissors-shaped folding rod is determined according to the surface division.

[0020] Preferably, when the second layer is networked, the triangular unit is an isosceles right triangle, and the acute angle formed by the axis of the faceplate notch of the synchronous hinge rod connected by the rotating pair and the axis of the faceplate notch of the adjacent scissors-fork folding rod is 45 degrees.

[0021] Preferably, when the third layer is networked, the triangular unit is an isosceles triangle with a vertex angle of 45 degrees, and the acute angle formed by the axis of the faceplate slot of the synchronous hinge rod connected by the rotating pair and the axis of the faceplate slot of the adjacent scissors-type folding rod meets 67.5 degrees.

[0022] Compared with the prior art, the present invention has the following beneficial effects:

[0023] (1) The parabolic frame deployable antenna mechanism of the novel scissor-type networking of the present invention is a single degree of freedom. It is centered on the basic deployable unit of a regular quadrangular prism composed of scissor-type units, and can be scissor-type networked in the horizontal and vertical directions according to the bottom side length of the regular quadrangular prism. By changing the number of layers of the scissor-type networking, the size of the spatial deployable antenna mechanism can be changed. It is flexible to adjust and can meet the needs of various scenarios.

[0024] (2) The present invention is a novel parabolic frame deployable antenna mechanism with a single degree of freedom and a scissor-type networking, that is, only one drive is required to realize the deployment and folding movement of the unit, the deployment process is easy to control, and the deployment reliability and accuracy are high.

[0025] (3) The present invention has a simple structure. The kinematic pairs involved are all rotating pairs. The number of rod types is small. Only scissor rods and connecting rods need to be combined. The structure of each layer of the faceplate is also the same. The opening of the slots is the optimal angle obtained through repeated experiments, which can meet the final folding and unfolding effect and is easy to realize large-scale engineering manufacturing.

[0026] (4) The overall structure of the present invention has a high degree of structural symmetry, low difficulty in processing and manufacturing, and good scalability. By setting different numbers of outer folding units, different large-scale parabolic frame deployable antennas can be formed. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] Figure 1 It is a three-dimensional schematic diagram of the fully deployed state of the spatially deployable antenna mechanism of the three-layer network of the present invention;

[0028] Figure 2 The present invention Figure 1 A three-dimensional schematic diagram of the semi-expanded state;

[0029] Figure 3 The present invention Figure 1 A three-dimensional schematic diagram of the fully folded state;

[0030] Figure 4 It is a three-dimensional schematic diagram of the fully deployed state of the spatially deployable antenna mechanism of the two-layer network of the present invention;

[0031] Figure 5 The present invention Figure 4 A three-dimensional schematic diagram of the semi-expanded state;

[0032] Figure 6 The present invention Figure 4 A three-dimensional schematic diagram of the fully folded state;

[0033] Figure 7 The present invention Figure 4 A three-dimensional schematic diagram of a scissor-type mechanism with a rectangular shape when networking;

[0034] Figure 8 It is a three-dimensional schematic diagram of a spatially deployable antenna mechanism for a layer of networking of the present invention;

[0035] Fig. 9 The present invention Figure 8 A three-dimensional schematic diagram of the fully expanded state;

[0036] Fig.10 The present invention Figure 8 A three-dimensional schematic diagram of the fully folded state.

[0037] Some of the drawings in the accompanying drawings are described as follows:

[0038] 1: the first scissors rod, 2: the first connecting rod, 3: the second connecting rod, 4: the second scissors rod, 5: the first flower plate, 6: the third connecting rod, 7: the fourth connecting rod, 8: the second flower plate, 9: the third scissors rod, 10: the fifth connecting rod, 11: the third flower plate, 12: the sixth connecting rod, 13: the seventh connecting rod, 14: the fourth flower plate, 15: the fourth scissors rod, 16: the fifth flower plate, 17: the fifth scissors rod, 18: the sixth flower plate, 19: the eighth connecting rod, 20: the ninth connecting rod, 21: the tenth connecting rod, 22: the sixth scissors rod, 23: the seventh flower plate, 24: the seventh scissors rod, 25: the eleventh connecting rod, 26: the eighth flower plate, 27: the twelfth connecting rod, 28: the thirteenth connecting rod, 29: the fourteenth connecting rod, 30: the fifteenth connecting rod, 31: the ninth flower plate, 32: the eighth scissors rod, 33: the tenth flower plate, 34: the sixteenth connecting rod. DETAILED DESCRIPTION

[0039] The exemplary embodiments, features and aspects of the present invention will be described in detail below with reference to the accompanying drawings. The same reference numerals in the accompanying drawings represent elements with the same or similar functions. Although various aspects of the embodiments are shown in the accompanying drawings, the drawings are not necessarily drawn to scale unless otherwise specified.

[0040] The present invention provides a parabolic frame deployable antenna mechanism of scissor-type networking, which includes a central regular N prism and M layers of deployable surfaces arranged outside the regular N prisms, each layer of the deployable surface includes P rectangular units and P triangles connecting adjacent rectangular units, and the calculation formula of the number P of rectangular units in the i-th layer of the deployable surface is:

[0041] P = 2 i-1 *N

[0042] Wherein, i is the number of expandable layers from the inside to the outside, N is an integer greater than or equal to 3, M is the total number of expandable layers, and M is an integer greater than or equal to 0;

[0043] The N apex angles of the regular N prisms, the N bottom angles, the rectangular unit and the regular N prisms, and the rectangular units are connected by means of folding connecting rods, and the apex angles and bottom angles of the regular N prisms and the rectangular units on the top surface and the rectangular units on the bottom surface are connected by means of scissor folding rods.

[0044] The regular N-prism basic expandable unit comprises N groups of scissor-shaped folding rods, N groups of folding connecting rods, N+1 faceplates on the first surface and N+1 faceplates on the second surface, each group of scissor-shaped folding rods is formed by connecting two scissor-shaped rods of different lengths by means of a rotating pair, each group of folding connecting rods is formed by connecting two identical connecting rods by means of a rotating pair, the N+1 faceplates on the first surface comprise a top faceplate located at the center of the first surface of the regular N-prism and N bottom faceplates located at N corners of the first surface, the N+1 faceplates on the second surface comprise a top faceplate located at the center of the second surface of the regular N-prism and N bottom faceplates located at N corners of the second surface,

[0045] Two adjacent bottom faceplates are connected by means of a group of folding connecting rods, and the bottom faceplate of the first surface is connected to the bottom faceplate of the second surface at the corresponding position by means of a group of long rods of scissor-type folding rods, and the two free ends of the short rods of the group of scissor-type folding rods are connected to the top faceplate of the first surface and the top faceplate of the second surface respectively, and the degree of freedom of the connecting rod and the faceplate, as well as the free end of the scissor-type rod and the faceplate are connected by means of a rotating pair;

[0046] Each developable layer includes 2 i *N bottom discs and 2 on the second surface i *N lower faceplates, the bottom faceplates on the first surface and the bottom faceplates on the second surface are connected by a set of scissor-type folding rods, the two free ends of the short rods of the set of scissor-type folding rods are respectively connected to the bottom faceplates on the first surface and the second surface adjacent to the inner layer, and the adjacent bottom faceplates are connected by a set of folding connecting rods;

[0047] The five rotation sub-axes of each set of scissor-type folding rods are all parallel, and the three rotation sub-axes on each set of folding connecting rods are all parallel.

[0048] In a specific embodiment of the present invention, a spatially deployable antenna mechanism for implementing a layer of networking is provided, that is, only one regular N-prism in the center is included. In this embodiment, the regular N-prism is a regular quadrangular prism. It includes a total of ten faceplates, eight inspection rods, and sixteen connecting rods, and five faceplates are arranged on each layer, including a faceplate in the middle and four faceplates at the four corners.

[0049] like Figure 8As shown, the eight scissor rods have the same structure, two scissor rods form a group, and the two scissor rods are connected in the middle by a rotating pair. In order to ensure that the flower disks in the horizontal direction are not at the same height when the two scissor rods are connected to the flower disk, the hinge position is at the center of the scissor rod when the scissor rods are designed. The two scissor rods have different lengths, and the lengths of the two scissor rods in each layer are equal. The eight scissor rods form four groups of scissor folding rods, which are equivalent to the internal belly rods of the regular quadrangular prism basic expandable unit, and are symmetrically distributed on the flower disk of the regular quadrangular prism basic expandable unit; the sixteen connecting rods have the same structure, two connecting rods form a group, and one end of the two connecting rods is connected by a rotating pair. The sixteen connecting rods form eight groups of folding connecting rods, and the eight groups of folding connecting rods are symmetrically distributed on the bottom flower disk of the regular quadrangular prism basic expandable unit; the ten flower disks are all square flower disks, among which the eight bottom flower disks located in the regular quadrangular prism basic expandable unit have the same structure, and the two top flower disks located in the regular quadrangular prism basic expandable unit have the same structure. A middle slot is provided on each side of the eight bottom flower discs, and a symmetrical slot is provided at the line connecting the center and the vertex of each flower disc. The middle slot is used for inserting the folding rod and connecting through a rotating pair. The eight bottom flower discs are symmetrically distributed on the eight vertices at the bottom of the basic expandable unit of the regular quadrangular prism. The symmetrical slots are used for inserting the scissor-shaped folding rods on both sides that are longer than the middle hinge and connecting through a rotating pair. A middle slot is provided on each side of the two top flower discs. The middle slot is used for inserting the scissor-shaped folding rods on both sides that are shorter than the middle hinge and connecting through a rotating pair.

[0050] The first scissor rod 1 and the eighth scissor rod 32 are connected by a rotating pair to form a first scissor folding rod, the second scissor rod 4 and the third scissor rod 9 are connected by a rotating pair to form a second scissor folding rod, the fourth scissor rod 15 and the fifth scissor rod 17 are connected by a rotating pair to form a third scissor folding rod, and the sixth scissor rod 22 and the seventh scissor rod 24 are connected by a rotating pair to form a fourth scissor folding rod. The two ends of the short scissor rod in the first scissor folding rod are respectively inserted into the middle notches of the third faceplate 11 and the fourth faceplate 14, and the two ends of the long scissor rod are respectively inserted into the symmetrical notches of the ninth faceplate 31 and the tenth faceplate 33. The first scissor folding rod is connected to the four faceplates through four rotating pairs, and the five rotating pair axes on the first scissor folding rod are all parallel.

[0051] The shorter ends of the second scissors-fork folding rod are respectively inserted into the middle notches of the third and fourth flower discs 11, 14, and the longer ends are respectively inserted into the symmetrical notches of the first and second flower discs 5, 8, and are connected to the four flower discs through four rotation pairs, and the five rotation pair axes on the second scissors-fork folding rod are all parallel; the short scissors-fork rod ends of the third scissors-fork folding rod are respectively inserted into the middle notches of the third and fourth flower discs 11, 14, and the long scissors-fork rod ends are respectively inserted into the symmetrical notches of the fifth and sixth flower discs 16, 18, and are connected to the four flower discs through four rotation pairs, and the five rotation pair axes on the third scissors-fork folding rod are all parallel; the short scissors-fork rod ends of the fourth scissors-fork folding rod are respectively inserted into the middle notches of the third and fourth flower discs 11, 14, and the long scissors-fork rod ends are respectively inserted into the symmetrical notches of the seventh and eighth flower discs 23, 26, and are connected to the four flower discs through four rotation pairs, and the five rotation pair axes on the fourth scissors-fork folding rod are all parallel. The secondary rotation axes at corresponding positions of the first scissor-folding rod and the third scissor-folding rod are parallel, and the secondary rotation axes at corresponding positions of the second scissor-folding rod and the fourth scissor-folding rod are parallel.

[0052] One end of the second link 3 and the sixteenth link 34 are connected by a rotating pair to form a first folding link, one end of the first link 2 and the fourth link 7 are connected by a rotating pair to form a second folding link, one end of the third link 6 and the sixth link 12 are connected by a rotating pair to form a third folding link, one end of the fifth link 10 and the seventh link 13 are connected by a rotating pair to form a fourth folding link, one end of the ninth link 20 and the eleventh link 25 are connected by a rotating pair to form a fifth folding link, one end of the eighth link 19 and the tenth link 21 are connected by a rotating pair to form a sixth folding link, and one end of the twelfth link 27 and the fifteenth link are connected by a rotating pair to form a sixth folding link. One end of the connecting rod 30 is connected through a rotating pair to form the seventh folding connecting rod, and one end of the thirteenth connecting rod 28 and the fourteenth connecting rod 29 are connected through a rotating pair to form the eighth folding connecting rod; the two ends of the first folding connecting rod are respectively inserted into the middle notches of the parallel first face plate 5 and the ninth face plate 31, and are connected to the two face plates through two rotating pairs, and the three rotating pair axes on the first folding connecting rod are all parallel; the two ends of the second folding connecting rod are respectively inserted into the middle notches of the parallel second face plate 8 and the tenth face plate 33, and are connected to the two face plates through two rotating pairs, and the three rotating pair axes on the second folding connecting rod are all parallel; the two ends of the third folding connecting rod The third folding connecting rod is respectively inserted into the middle notches of the parallel first faceplate 5 and the sixth faceplate 18, and is connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the third folding connecting rod are all parallel; the two ends of the fourth folding connecting rod are respectively inserted into the middle notches of the parallel second faceplate 8 and the fifth faceplate 16, and are connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the fourth folding connecting rod are all parallel; the two ends of the fifth folding connecting rod are respectively inserted into the middle notches of the parallel sixth faceplate 18 and the eighth faceplate 26, and are connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the fifth folding connecting rod are all parallel; the sixth folding connecting rod The two ends of the rod are respectively inserted into the middle notches of the parallel fifth face disc 16 and the seventh face disc 23, and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the sixth folding link are all parallel; the two ends of the seventh folding link are respectively inserted into the middle notches of the parallel eighth face disc 26 and the ninth face disc 31, and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the seventh folding link are all parallel; the two ends of the eighth folding link are respectively inserted into the middle notches of the parallel seventh face disc 23 and the tenth face disc 33, and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the eighth folding link are all parallel. The corresponding secondary rotation axes on the first folding link and the second folding link are parallel, the corresponding secondary rotation axes on the third folding link and the fourth folding link are parallel, the corresponding secondary rotation axes on the fifth folding link and the sixth folding link are parallel, and the corresponding secondary rotation axes on the seventh folding link and the eighth folding link are parallel. The secondary rotation axes on the first folding rod and the second folding rod coincide with the secondary rotation axes at corresponding positions on the fifth folding rod and the sixth folding rod respectively, and the secondary rotation axes on the third folding rod and the fourth folding rod coincide with the secondary rotation axes at corresponding positions on the seventh folding rod and the eighth folding rod respectively.

[0053] like Fig. 9 and Fig.10 As shown, the length of the folding link, that is, the unfolding angle of the two links, can limit the unfolding degree of the basic expandable unit. When the folding link is fully extended, that is, the three rotation sub-axes on the folding link are coplanar, the antenna mechanism is in a fully unfolded state. When the folding link is fully folded, that is, the two links constituting the folding link overlap, the antenna mechanism is in a fully folded state.

[0054] In the second embodiment of the present invention, a two-layer networked spatially deployable antenna mechanism is implemented, that is, it includes a central regular N-prism and an outer deployable layer. The specific structure is as follows:

[0055] like Figure 4-Figure 6As shown, the new single-degree-of-freedom scissor-type two-layer networking spatially deployable antenna mechanism is to build another expandable layer on the basis of the inner-layer networking spatially deployable antenna mechanism, and the outer-layer deployable layer is networked by building a number of scissor-type hinge rods, hinge rods and flower discs on the periphery according to the surface division principle of alternating distribution of rectangles and triangles, and the unused middle eight middle notches of the bottom flower disc of the above-designed one-layer networking spatially deployable antenna mechanism are utilized, and the middle notches of the corresponding bottom flower discs of the upper and lower layers are selected as a group, which can be divided into eight groups in total, and each group of middle notches is used to insert scissor-type folding rods of different lengths on both sides and connected through the middle rotating pair. When designing each set of scissor-type folding rods, the two scissor-type rods are designed to have different lengths, and the centers of the two scissor-type rods are connected by a rotating pair. To ensure that the antenna mechanism is fully folded, it is necessary to meet the requirement that the sum of the distances between the end rotating pair axis of the two scissor-type rods on the same side of the first layer connected by the bottom faceplate corresponding to the upper and lower parts of the first layer and the hinge axis at an appropriate offset in the middle of the scissor-type folding rod is equal to the sum of the distances between the end rotating pair axis of the two scissor-type rods on the same side of the second layer connected by the bottom faceplate corresponding to the upper and lower parts of the first layer and the hinge axis in the middle of the scissor-type folding rod, that is, the sum of the lengths of the two folding rods of the scissor-type folding rods of each layer is equal. The scissor-type folding rods of the second layer are exactly the same. Therefore, when the second layer is networked, the eight groups of identical scissor-type folding rods are connected in the above-mentioned manner of the bottom faceplate. In order to realize the synchronous movement of the spatially expandable antenna mechanism, the two ends of the eight groups of scissor-type folding rods of the second layer that are not connected by the rotating pair need to be connected by the faceplate, and the faceplates can be connected by a synchronous hinge rod. The designed faceplates satisfy that the axes of the slots for inserting synchronous hinges of the upper and lower adjacent faceplates are respectively parallel to the axes of the bottom folding rods corresponding to the upper and lower regular quadrangular prism basic expandable units; the slots of the upper and lower faceplates at both ends of the scissors-type folding rods are respectively perpendicular to the axes of the bottom folding rods corresponding to the upper and lower regular quadrangular prism basic expandable units, that is, the axes of the middle slots of the faceplates for inserting the scissors-type folding rods and the axes of the slots for inserting the synchronous hinges are perpendicular; after the four groups of identical rectangular networks in the second layer are completed, the faceplates of each group of identical rectangular networks also need synchronous hinge rod faceplate slots connected by a rotating pair, and their positions can be determined by the angle according to the profile. Since the triangle generated in the second layer is an isosceles right triangle, when designing the faceplate, the acute angle formed by the axes of the slots of the synchronous hinge rod faceplates connected by the rotating pair and the axes of the slots of the adjacent scissors-type folding rod faceplates satisfies 45 degrees.

[0056] The spatially deployable antenna mechanism of the two-layer network has a high degree of rotational symmetry, so it is sufficient to analyze its basic symmetrical combination unit. The scissor rod 19′ and the scissor rod 20′ are of different lengths, and are connected in the middle by a rotating pair to form a scissor-type folding rod, so that one end of the longer scissor rod 20′ on both sides of the unequal length is connected to the middle notch of the second faceplate 8 corresponding to the upper layer, and the other end of the longer scissor rod 20′ is connected to the middle notch of the faceplate 17′ corresponding to the lower layer. One end of the shorter scissor rod 19′ is connected to the middle notch of the first faceplate 5 corresponding to the lower layer, and the other end of the shorter scissor rod is connected to the middle notch of the faceplate 18′ corresponding to the upper layer. The scissor rod 10′ and the scissor rod 11′ are of different lengths, and are connected in the middle by a rotating pair to form a scissor-type folding rod, so that one end of the longer scissor rod 11′ on both sides of the unequal length is connected to the middle notch of the tenth faceplate 33 corresponding to the upper layer, and the other end of the longer scissor rod 11′ is connected to the middle notch of the faceplate 9′ ​​corresponding to the lower layer. One end of the shorter scissor rod 10' is connected to the middle notch of the ninth flower disc 31 corresponding to the lower layer, and the other end of the shorter scissor rod 10' is connected to the middle notch of the flower disc 12' corresponding to the upper layer. The scissor rod 2' and the scissor rod 4' are of different lengths, and the middle is connected by a rotation pair to form a scissor folding rod, so that the scissor folding rods on both sides of the unequal length are connected to the middle notch of the tenth flower disc 33 corresponding to the upper layer, and the other end of the longer scissor rod 4' is connected to the middle notch of the flower disc 5' corresponding to the lower layer. One end of the shorter scissor rod 2' is connected to the middle notch of the ninth flower disc 31 corresponding to the lower layer, and the other end of the shorter scissor rod 2' is connected to the middle notch of the flower disc 1' corresponding to the upper layer. The scissor folding rod composed of the scissor rod 19' and the scissor rod 20', the scissor folding rod composed of the scissor rod 10' and the scissor rod 11', and the scissor folding rod composed of the scissor rod 2' and the scissor rod 4' are completely the same, and the five rotation pair axes are parallel.

[0057] One end of the connecting rod 14' and the connecting rod 15' are connected by a rotating pair to form a folding connecting rod, and the two ends of the folding connecting rod are respectively inserted into the middle notches of the parallel faceplate 9' and the faceplate 17', and are connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel; one end of the connecting rod 13' and the connecting rod 16' are connected by a rotating pair to form a folding connecting rod, and the two ends of the folding connecting rod are respectively inserted into the middle notches of the parallel faceplate 12' and the faceplate 18', and are connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel; one end of the connecting rod 6' and the connecting rod 8' are connected by a rotating pair to form a folding Connecting rod, the two ends of the folding connecting rod are respectively inserted into the middle notches of the parallel faceplate 5' and faceplate 9', the oblique notch forms an angle of 45 degrees with the middle notch of the scissor-type folding connecting rod just inserted, and is connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel; one end of connecting rod 3' and connecting rod 7' are connected through a rotating pair to form a folding connecting rod, the two ends of the folding connecting rod are respectively inserted into the oblique notches of the parallel faceplate 1' and faceplate 12', the oblique notch forms an angle of 45 degrees with the middle notch of the scissor-type folding connecting rod just inserted, and is connected to the two faceplates through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel. The folding connecting rod composed of connecting rod 14' and connecting rod 15' is exactly the same as the folding connecting rod composed of connecting rod 13' and connecting rod 16', the folding connecting rod composed of connecting rod 6' and connecting rod 8' is also exactly the same as the folding connecting rod composed of connecting rod 3' and connecting rod 7'. Figure 7 The diagram is a scissor-fork mechanism diagram with a rectangular shape when the deployable antenna mechanism is used for second-layer networking.

[0058] After the basic symmetrical combination unit design is completed, the number of scissor hinge rods, hinge rods and discs is determined according to the high rotational symmetry of the spatially deployable antenna mechanism for assembly. The length of the folding link can limit the degree of deployment of the basic deployable unit. When the folding link is fully extended, that is, the three rotation secondary axes on the folding link are coplanar, the antenna mechanism is in a fully deployed state, and when the folding link is fully retracted, the antenna mechanism is in a fully retracted state. Figure 4 The deployable antenna mechanism is in a fully deployed state. Figure 5 In the fully semi-expanded state, Figure 6 In fully folded state.

[0059] In the second embodiment of the present invention, a three-layer networked spatially deployable antenna structure is implemented, that is, it includes a central regular N-prism and two outer deployable layers. The specific structure is as follows:

[0060] like Figure 1-Figure 3As shown, the new single-degree-of-freedom scissor-type three-layer networked spatial deployable antenna mechanism is based on the two-layer networked spatial deployable antenna mechanism. It further expands one expandable layer outward. According to the principle of alternating rectangular and triangular distribution of the profile division, a number of scissor hinge rods, hinge rods and faceplates are built around the periphery to form a network. The implementation method of the three-layer networked spatial deployable antenna mechanism is the same as that of the two-layer networked spatial deployable antenna mechanism. It is also necessary to meet the requirement that the sum of the distances between the end rotation sub-axis of the faceplate corresponding to the upper and lower parts of the layer shared by the layer and the previous layer connecting the two scissor rods on the same side of the previous layer and the middle hinge axis of the scissor folding rod is equal to the sum of the distances between the end rotation sub-axis of the faceplate corresponding to the upper and lower parts of the layer shared by the layer and the previous layer connecting the two scissor rods on the same side of the layer and the middle hinge axis of the scissor folding rod. It is worth noting that since the triangle generated in the third layer is an isosceles triangle with a vertex angle of 45 degrees, when designing the faceplate, the acute angle formed by the faceplate notch axis of the synchronous hinge rod connected by the rotation pair and the faceplate notch axis of the adjacent scissor folding rod meets 67.5 degrees.

[0061] The spatially deployable antenna mechanism of the three-layer network also has a high degree of rotational symmetry. Therefore, it is sufficient to analyze the basic symmetrical combination units of the three-layer network. The scissor rods 18″ and scissor rods 20″ are of different lengths, and are connected in the middle by a rotating pair to form a scissor-folding rod, so that the scissor-folding rods on both sides of the unequal lengths have one end of the longer scissor rod connected to the middle notch of the flower disk 18′ corresponding to the upper layer, and the other end of the longer scissor rod connected to the middle notch of the flower disk 16″ corresponding to the lower layer; one end of the shorter scissor rod is connected to the middle notch of the flower disk 17′ corresponding to the lower layer, and the other end of the shorter scissor rod is connected to the middle notch of the flower disk 19″ corresponding to the upper layer. The scissor rod 10" and the scissor rod 12" are of different lengths, and are connected in the middle by a rotating pair to form a scissor folding rod. One end of the longer scissor rod is connected to the middle notch of the flower disk 12' corresponding to the upper layer, and one end of the shorter scissor rod is connected to the middle notch of the flower disk 9' corresponding to the lower layer. The other end of the shorter scissor rod is connected to the middle notch of the flower disk 8" corresponding to the upper layer, and the other end of the longer scissor rod is connected to the middle notch of the flower disk 11" corresponding to the lower layer; the scissor rod 1" and the scissor rod 4" are of different lengths, and are connected in the middle by a rotating pair to form a scissor folding rod. The longer One end of the scissors rod is connected to the middle notch of the flower disc 1' corresponding to the upper layer, one end of the shorter scissors rod is connected to the middle notch of the flower disc 5' corresponding to the lower layer, the other end of the shorter scissors rod is connected to the middle notch of the flower disc 8" corresponding to the upper layer, and the other end of the longer scissors rod is connected to the middle notch of the flower disc 11" corresponding to the lower layer; the scissors rods 18" and scissors rods 20" form a scissors-fork folding rod, the scissors rods 10" and scissors rods 12" form a scissors-fork folding rod, and the scissors rods 1" and scissors rods 4" form a scissors-fork folding rod which are exactly the same and the five rotation secondary axes are all parallel.

[0062] One end of the connecting rod 14" and the connecting rod 15" are connected by a rotating pair to form a folding connecting rod, and the two ends of the folding connecting rod are respectively inserted into the middle notches of the parallel face discs 11" and the face disc 16", and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel; one end of the connecting rod 13" and the connecting rod 17" are connected by a rotating pair to form a folding connecting rod, and the two ends of the folding connecting rod are respectively inserted into the middle notches of the parallel face discs 8" and the face disc 19", and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel; one end of the connecting rod 6" and the connecting rod 9" are connected by a rotating pair to form a folding connecting rod, and the two ends of the folding connecting rod are respectively inserted into the middle notches of the parallel face discs 8" and the face disc 19", and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the folding connecting rod are all parallel. The folding link is respectively inserted into the middle notch of the parallel face disc 5" and the face disc 11", and is connected to the two face discs through two rotating pairs, and the three rotating pair axes on the folding link are all parallel; one end of the connecting rod 3" and the connecting rod 7" are connected through a rotating pair to form a folding link, and the two ends of the folding link are respectively inserted into the middle notch of the parallel face disc 2" and the face disc 8", and are connected to the two face discs through two rotating pairs, and the three rotating pair axes on the folding link are all parallel; the folding link composed of the connecting rod 14" and the connecting rod 15" is exactly the same as the folding link composed of the connecting rod 13" and the connecting rod 17", and the folding link composed of the connecting rod 6" and the connecting rod 9" is also exactly the same as the folding link composed of the connecting rod 3" and the connecting rod 7".

[0063] After the basic symmetrical combination unit design is completed, the spatially deployable antenna mechanism has a high degree of rotational symmetry, and the number of scissor hinge rods, hinge rods and discs must also be determined before assembly. The length of the folding link can limit the degree of deployment of the basic deployable unit. When the folding link is fully extended, that is, the three rotational secondary axes on the folding link are coplanar, the antenna mechanism is in a fully deployed state, and when the folding link is fully retracted, the antenna mechanism is in a fully retracted state. Figure 1 The deployable antenna mechanism is in a fully deployed state. Figure 2 In semi-expanded state, Figure 3 In fully folded state.

[0064] The embodiments described above are only descriptions of the preferred implementation modes of the present invention, and are not intended to limit the scope of the present invention. Without departing from the design spirit of the present invention, various modifications and improvements made to the technical solutions of the present invention by ordinary technicians in this field should all fall within the protection scope determined by the claims of the present invention.

Claims

1. A parabolic structure deployable antenna mechanism for scissor-type networking, characterized in that: It includes a regular N prism in the center and M expandable surface layers arranged outside the regular N prism. Each expandable surface layer of the M expandable surface layers includes P rectangular units and P triangular units connecting adjacent rectangular units. The calculation formula for the number P of rectangular units in the i-th expandable surface layer is: P=2 i-1 *N Wherein, i is the number of expandable layers from the inside to the outside, N is an integer greater than or equal to 3, M is the total number of expandable layers, and M is an integer greater than or equal to 0; The N apex angles of the regular N prisms, the N base angles, the rectangular unit and the regular N prisms, and the rectangular units are connected by means of folding connecting rods, and the apex angles and base angles of the regular N prisms, and the rectangular units on the first surface and the rectangular units on the second surface are connected by means of scissor folding rods.

2. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 1, characterized in that: The regular N-prism comprises N groups of scissor-shaped folding rods, N groups of folding connecting rods, N+1 faceplates on the first surface and N+1 faceplates on the second surface, each group of scissor-shaped folding rods is formed by connecting two scissor-shaped rods of different lengths by means of a rotating pair, each group of folding connecting rods is formed by connecting two identical connecting rods by means of a rotating pair, the N+1 faceplates on the first surface comprise a top faceplate located at the center of the first surface of the regular N-prism and N bottom faceplates located at N corners of the first surface, the N+1 faceplates on the second surface comprise a top faceplate located at the center of the second surface of the regular N-prism and N bottom faceplates located at N corners of the second surface, Two adjacent bottom faceplates are connected by means of a group of folding connecting rods, and the bottom faceplate of the first surface is connected to the bottom faceplate of the second surface at the corresponding position by means of a group of long rods of scissor-type folding rods, and the two free ends of the short rods of the group of scissor-type folding rods are connected to the top faceplate of the first surface and the top faceplate of the second surface respectively, and the degree of freedom of the connecting rod and the faceplate, as well as the free end of the scissor-type rod and the faceplate are connected by means of a rotating pair; Each developable layer includes 2 i *N bottom discs and 2 on the second surface i *N lower flower discs, the bottom flower discs on the first surface are connected to the bottom flower discs on the second surface by means of a set of scissor-shaped folding rods, the two free ends of the short rods of the set of scissor-shaped folding rods are respectively connected to the bottom flower discs at corresponding positions of the inner layer and the outer layer of the first surface, and the two free ends of the long rods of the set of scissor-shaped folding rods are respectively connected to the bottom flower discs at corresponding positions of the inner layer and the outer layer of the second surface; The five rotation sub-axes of each set of scissor-type folding rods are all parallel, and the three rotation sub-axes on each set of folding connecting rods are all parallel.

3. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 2, characterized in that: By changing the number of M expandable layers, the size of the spatially expandable antenna structure can be changed.

4. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 2, characterized in that: The length of the folding link can adjust the degree of expansion of the basic expandable unit. When the folding link is fully extended, that is, the three rotation sub-axes on the folding link are coplanar, the antenna mechanism is in a fully expanded state. When the folding link is fully folded, the antenna mechanism is in a fully folded state.

5. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 2, characterized in that: A middle slot is provided on each side of the bottom flower disc and a symmetrical slot is provided at the line connecting the center and the vertex of each flower disc. The middle slot is used to insert the folding rod and is connected through a rotating pair. The 2*N bottom flower discs are symmetrically distributed on the 2*N vertex corners at the bottom of the regular N prism basic expandable unit. The symmetrical slots are used to insert the scissor-shaped folding rods on both sides that are longer than the middle hinge and are connected through a rotating pair. A middle slot is provided on each side of the two top flower discs. The middle slot is used to insert the scissor-shaped folding rods on both sides that are shorter than the middle hinge and are connected through a rotating pair.

6. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 2, characterized in that: The length of each scissor rod of the regular N-prism basic expandable unit and the expandable unit of each layer is different, but the sum of the lengths of the two scissor rods of each set of scissor folding rods of the regular N-prism basic expandable unit and the expandable unit of each layer is equal.

7. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 1, characterized in that: Starting from the second-layer networking, in the rectangular units of each layer, the axes of the slots of adjacent faceplates inserted into the synchronous hinges are respectively parallel to the axes of the corresponding bottom folding rods of the upper and lower regular quadrangular prism basic expandable units, and the upper and lower faceplate slots at both ends of the scissor-type folding rods are respectively perpendicular to the axes of the corresponding bottom folding rods of the upper and lower regular N-prism basic expandable units; in the triangular units of each layer, the acute angle formed by the axis of the faceplate slot of the synchronous hinge rod connected by the rotating pair and the axis of the faceplate slot of the adjacent scissor-type folding rod is determined according to the surface division.

8. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 7, characterized in that: For example, when the second layer is networked, the triangular unit is an isosceles right triangle, and the acute angle formed by the axis of the faceplate slot of the synchronous hinge rod connected by the rotating pair and the axis of the faceplate slot of the adjacent scissor folding rod is 45 degrees.

9. The parabolic structure deployable antenna mechanism for scissor-type networking according to claim 7, characterized in that: When the third layer is networked, the triangular unit is an isosceles triangle with a vertex angle of 45 degrees, and the acute angle formed by the axis of the faceplate slot of the synchronous hinge rod connected by the revolute pair and the axis of the faceplate slot of the adjacent scissor folding rod meets 67.5 degrees.

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